OpenRaiser/Intern-Atlas huggingface dataset:
Reliability and Error Burst Length Analysis of Wireless Multi-Connectivity
Venue: arXiv cs.IT 2019
Year: 2019

Multi-connectivity offers diversity in terms of multiple interfaces through which the data can be sent, thereby improving simultaneously the overall reliability and latency. This makes interface diversity a natural candidate for supporting Ultra-Reliable Low Latency Communications (URLLC). This work investigates how the packet error statistics from different interfaces impacts the overall reliability-latency characteristics. We use the simple Gilbert-Elliott model for burst errors and estimate its parameters based on experimental measurement traces from LTE and {Wi-Fi} packet transmissions collected over several days. The results show that using interface diversity configurations that include at least one {Wi-Fi} interface leads to, somewhat surprisingly, since Wi-Fi is generally less reliable than LTE, superior results in terms of packet success and error burst duration. Another interesting finding is that {Wi-Fi}-based interface diversity configurations outperform even ultra-reliable single links.
Analyzing the Trade-offs in Using Millimeter Wave Directional Links for High Data Rate Tactile Internet Applications
Venue: arXiv cs.NI 2019
Year: 2019

Ultra-low latency and high reliability communications are the two defining characteristics of Tactile Internet (TI). Nevertheless, some TI applications would also require high data-rate transfer of audio-visual information to complement the haptic data. Using Millimeter wave (mmWave) communications is an attractive choice for high datarate TI applications due to the availability of large bandwidth in the mmWave bands. Moreover, mmWave radio access is also advantageous to attain the airinterface-diversity required for high reliability in TI systems as mmWave signal propagation significantly differs to sub-6GHz propagation. However, the use of narrow beamwidth in mmWave systems makes them susceptible to link misalignment-induced unreliability and high access latency. In this paper, we analyze the trade-offs between high gain of narrow beamwidth antennas and corresponding susceptibility to misalignment in mmWave links. To alleviate the effects of random antenna misalignment, we propose a beamwidth-adaptation scheme that significantly stabilize the link throughput performance.
SE-SLAM: Semi-Dense Structured Edge-Based Monocular SLAM
Venue: arXiv cs.RO 2019
Year: 2019

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further navigation tasks. Most recently, direct methods which operate directly on image intensity have been introduced, capable of reconstructing richer maps at the cost of higher processing power. In this work, an edge-based monocular SLAM system (SE-SLAM) is proposed as a middle point: edges present good localization as point features, while enabling a structural semidense map reconstruction. However, edges are not easy to associate, track and optimize over time, as they lack descriptors and biunivocal correspondence, unlike point features. To tackle these issues, this paper presents a method to match edges between frames in a consistent manner; a feasible strategy to solve the optimization problem, since its size rapidly increases when working with edges; and the use of non-linear optimization techniques. The resulting system achieves comparable precision to state of the art feature-based and dense/semi-dense systems, while inherently building a structural semi-dense reconstruction of the environment, providing relevant structure data for further navigation algorithms. To achieve such accuracy, state of the art non-linear optimization is needed, over a continuous feed of 10000 edgepoints per frame, to optimize the full semi-dense output. Despite its heavy processing requirements, the system achieves near to real-time operation, thanks to a custom built solver and parallelization of its key stages. In order to encourage further development of edge-based SLAM systems, SE-SLAM source code will be released as open source.
Adaptive Beamwidth Selection for Contention Based Access Periods in Millimeter Wave WLANs
Venue: arXiv cs.NI 2019
Year: 2019

60GHz wireless local area networks (WLANs) standards (e.g., IEEE 802.11ad and IEEE 802.15.3c) employ hybrid MAC protocols consisting of contention based access using CSMA/CA as well as dedicated service periods using time division multiple access (TDMA). To provide the channel access in the contention part of the protocol, quasi omni (QO) antenna patterns are defined which span over the particular spatial directions and cover a limited area around access points. In this paper, we propose an algorithm to determine the beamwidth of each QO level. The proposed algorithm takes into account the spatial distribution of nodes to allocate the beamwidth of each QO level in an adaptive fashion in order to maximizes the channel utilization and satisfy the required link budget criterion. Since the proposed algorithm minimizes the collisions, it also minimizes the average time required to transmit total packets in a QO level. Proposed algorithm improves the average channel utilization up to 20-30% and reduces the time required to transmit total packets up to 40-50% for the given network parameters.
Double-oracle sampling method for Stackelberg Equilibrium approximation in general-sum extensive-form games
Venue: arXiv cs.GT 2019
Year: 2019

The paper presents a new method for approximating Strong Stackelberg Equilibrium in general-sum sequential games with imperfect information and perfect recall. The proposed approach is generic as it does not rely on any specific properties of a particular game model. The method is based on iterative interleaving of the two following phases: (1) guided Monte Carlo Tree Search sampling of the Follower's strategy space and (2) building the Leader's behavior strategy tree for which the sampled Follower's strategy is an optimal response. The above solution scheme is evaluated with respect to expected Leader's utility and time requirements on three sets of interception games with variable characteristics, played on graphs. A comparison with three state-of-the-art MILP/LP-based methods shows that in vast majority of test cases proposed simulation-based approach leads to optimal Leader's strategies, while excelling the competitive methods in terms of better time scalability and lower memory requirements.
AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers
Venue: arXiv cs.LG 2019
Year: 2019

The exploration mechanism used by a Deep Reinforcement Learning (RL) agent plays a key role in determining its sample efficiency. Thus, improving over random exploration is crucial to solve long-horizon tasks with sparse rewards. We propose to leverage an ensemble of partial solutions as teachers that guide the agent's exploration with action suggestions throughout training. While the setup of learning with teachers has been previously studied, our proposed approach - Actor-Critic with Teacher Ensembles (AC-Teach) - is the first to work with an ensemble of suboptimal teachers that may solve only part of the problem or contradict other each other, forming a unified algorithmic solution that is compatible with a broad range of teacher ensembles. AC-Teach leverages a probabilistic representation of the expected outcome of the teachers' and student's actions to direct exploration, reduce dithering, and adapt to the dynamically changing quality of the learner. We evaluate a variant of AC-Teach that guides the learning of a Bayesian DDPG agent on three tasks - path following, robotic pick and place, and robotic cube sweeping using a hook - and show that it improves largely on sampling efficiency over a set of baselines, both for our target scenario of unconstrained suboptimal teachers and for easier setups with optimal or single teachers. Additional results and videos at https://sites.google.com/view/acteach/home.
ACE-Net: Biomedical Image Segmentation with Augmented Contracting and Expansive Paths
Venue: arXiv cs.CV 2019
Year: 2019

Nowadays U-net-like FCNs predominate various biomedical image segmentation applications and attain promising performance, largely due to their elegant architectures, e.g., symmetric contracting and expansive paths as well as lateral skip-connections. It remains a research direction to devise novel architectures to further benefit the segmentation. In this paper, we develop an ACE-net that aims to enhance the feature representation and utilization by augmenting the contracting and expansive paths. In particular, we augment the paths by the recently proposed advanced techniques including ASPP, dense connection and deep supervision mechanisms, and novel connections such as directly connecting the raw image to the expansive side. With these augmentations, ACE-net can utilize features from multiple sources, scales and reception fields to segment while still maintains a relative simple architecture. Experiments on two typical biomedical segmentation tasks validate its effectiveness, where highly competitive results are obtained in both tasks while ACE-net still runs fast at inference.
Recommendation System-based Upper Confidence Bound for Online Advertising
Venue: arXiv cs.IR 2019
Year: 2019

In this paper, the method UCB-RS, which resorts to recommendation system (RS) for enhancing the upper-confidence bound algorithm UCB, is presented. The proposed method is used for dealing with non-stationary and large-state spaces multi-armed bandit problems. The proposed method has been targeted to the problem of the product recommendation in the online advertising. Through extensive testing with RecoGym, an OpenAI Gym-based reinforcement learning environment for the product recommendation in online advertising, the proposed method outperforms the widespread reinforcement learning schemes such as $ε$-Greedy, Upper Confidence (UCB1) and Exponential Weights for Exploration and Exploitation (EXP3).
Novel diffusion-derived distance measures for graphs
Venue: arXiv cs.LG 2019
Year: 2019

We define a new family of similarity and distance measures on graphs, and explore their theoretical properties in comparison to conventional distance metrics. These measures are defined by the solution(s) to an optimization problem which attempts find a map minimizing the discrepancy between two graph Laplacian exponential matrices, under norm-preserving and sparsity constraints. Variants of the distance metric are introduced to consider such optimized maps under sparsity constraints as well as fixed time-scaling between the two Laplacians. The objective function of this optimization is multimodal and has discontinuous slope, and is hence difficult for univariate optimizers to solve. We demonstrate a novel procedure for efficiently calculating these optima for two of our distance measure variants. We present numerical experiments demonstrating that (a) upper bounds of our distance metrics can be used to distinguish between lineages of related graphs; (b) our procedure is faster at finding the required optima, by as much as a factor of 10^3; and (c) the upper bounds satisfy the triangle inequality exactly under some assumptions and approximately under others. We also derive an upper bound for the distance between two graph products, in terms of the distance between the two pairs of factors. Additionally, we present several possible applications, including the construction of infinite "graph limits" by means of Cauchy sequences of graphs related to one another by our distance measure.
MVP-Net: Multi-view FPN with Position-aware Attention for Deep Universal Lesion Detection
Venue: arXiv cs.CV 2019
Year: 2019

Universal lesion detection (ULD) on computed tomography (CT) images is an important but underdeveloped problem. Recently, deep learning-based approaches have been proposed for ULD, aiming to learn representative features from annotated CT data. However, the hunger for data of deep learning models and the scarcity of medical annotation hinders these approaches to advance further. In this paper, we propose to incorporate domain knowledge in clinical practice into the model design of universal lesion detectors. Specifically, as radiologists tend to inspect multiple windows for an accurate diagnosis, we explicitly model this process and propose a multi-view feature pyramid network (FPN), where multi-view features are extracted from images rendered with varied window widths and window levels; to effectively combine this multi-view information, we further propose a position-aware attention module. With the proposed model design, the data-hunger problem is relieved as the learning task is made easier with the correctly induced clinical practice prior. We show promising results with the proposed model, achieving an absolute gain of $\mathbf{5.65\%}$ (in the sensitivity of FPs@4.0) over the previous state-of-the-art on the NIH DeepLesion dataset.
Lifelog Patterns Analyzation using Graph Embedding based on Deep Neural Network
Venue: arXiv cs.SI 2019
Year: 2019

Recently, as the spread of smart devices increases, the amount of data collected through sensors is increasing. A lifelog is a kind of big data to analyze behavior patterns in the daily life of individuals collected from various smart de-vices. However, sensor data is a low-level signal that makes it difficult for hu-mans to recognize the situation directly and cannot express relations clearly. It is also difficult to identify the daily behavior pattern because it records heterogene-ous data by various sensors. In this paper, we propose a method to define a graph structure with node and edge and to extract the daily behavior pattern from the generated lifelog graph. We use the graph convolution method to embeds the lifelog graph and maps it to low dimension. The graph convolution layer im-proves the expressive power of the daily behavior pattern by implanting the life-log graph in the non-Euclidean space and learns the patterns of graphs. Experi-mental results show that the proposed method automatically extracts meaningful user patterns from UbiqLog dataset. In addition, we confirm the usefulness by comparing our method with existing methods to evaluate performance.
Visual Area Coverage with Attitude-Dependent Camera Footprints by Particle Harvesting
Venue: arXiv cs.RO 2019
Year: 2019

In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the problem of visual coverage by filling the target area with a set of randomly distributed particles and harvesting them by camera footprints. This way, high coverage is obtained at a low computational cost. In this approach, the path planner considers six degrees of freedom (DoF) for the camera movement and commands thrust and attitude references to a lower layer controller, while maximizing the covered area and coverage quality. The proposed method requires a priori information of the boundaries of the target area and can handle areas of very complex and highly non-convex geometry. The effectiveness of the approach is demonstrated in multiple simulations in terms of computational efficiency and coverage.
GBDT-MO: Gradient Boosted Decision Trees for Multiple Outputs
Venue: arXiv cs.CV 2019
Year: 2019

Gradient boosted decision trees (GBDTs) are widely used in machine learning, and the output of current GBDT implementations is a single variable. When there are multiple outputs, GBDT constructs multiple trees corresponding to the output variables. The correlations between variables are ignored by such a strategy causing redundancy of the learned tree structures. In this paper, we propose a general method to learn GBDT for multiple outputs, called GBDT-MO. Each leaf of GBDT-MO constructs predictions of all variables or a subset of automatically selected variables. This is achieved by considering the summation of objective gains over all output variables. Moreover, we extend histogram approximation into multiple output case to speed up the training process. Various experiments on synthetic and real-world datasets verify that GBDT-MO achieves outstanding performance in terms of both accuracy and training speed. Our codes are available on-line.
RefineFace: Refinement Neural Network for High Performance Face Detection
Venue: arXiv cs.CV 2019
Year: 2019

Face detection has achieved significant progress in recent years. However, high performance face detection still remains a very challenging problem, especially when there exists many tiny faces. In this paper, we present a single-shot refinement face detector namely RefineFace to achieve high performance. Specifically, it consists of five modules: Selective Two-step Regression (STR), Selective Two-step Classification (STC), Scale-aware Margin Loss (SML), Feature Supervision Module (FSM) and Receptive Field Enhancement (RFE). To enhance the regression ability for high location accuracy, STR coarsely adjusts locations and sizes of anchors from high level detection layers to provide better initialization for subsequent regressor. To improve the classification ability for high recall efficiency, STC first filters out most simple negatives from low level detection layers to reduce search space for subsequent classifier, then SML is applied to better distinguish faces from background at various scales and FSM is introduced to let the backbone learn more discriminative features for classification. Besides, RFE is presented to provide more diverse receptive field to better capture faces in some extreme poses. Extensive experiments conducted on WIDER FACE, AFW, PASCAL Face, FDDB, MAFA demonstrate that our method achieves state-of-the-art results and runs at $37.3$ FPS with ResNet-18 for VGA-resolution images.
Pedagogical techniques of Earth remote sensing data application into modern school practice
Venue: arXiv cs.CY 2019
Year: 2019

The article dwells upon the Earth remote sensing data as one of the basic directions of Geo-Information Science, a unique source of information on processes and phenomena occurring in almost all spheres of the Earth geographic shell (atmosphere, hydrosphere, lithosphere, etc.). The authors argue that the use of aerospace images by means of the information and communication technologies involvement in the learning process allows not only to increase the information context value of learning, but also contributes to the formation of students' cognitive interest in such disciplines as geography, biology, history, physics, computer science, etc. It has been grounded that remote sensing data form students' spatial, temporal and qualitative concepts, sensory support for the perception, knowledge and explanation of the specifics of objects and phenomena of geographical reality, which, in its turn, provides an increase in the level of educational achievements. The techniques of aerospace images application into the modern school practice have been analyzed and illustrated in the examples: from using them as visual aids, to realization of practical and research orientation of training on the basis of remote sensing data. Particular attention is paid to the practical component of the Earth remote sensing implementation into the modern school practice with the help of information and communication technologies.
The Evolution of Decentralized ICT Networks
Venue: arXiv cs.NI 2019
Year: 2019

Traditional networking systems, especially the famous 3 tier topology design, focused more on centralizing the networking systems, and used redundancy as a protection mechanism against future failures of the system. However, in recent years, the evolution of decentralization has taken place through several design techniques. Starting with clients requiring physically separate networks for critical applications. And then emerged the Spine Leaf topology and the Software Defined Network solutions. In this research paper, I will first, prove how decentralization is better than centralization using aspects of probability theory. Second, I will go further and show how the Spine Leaf and Software Defined Networks are inherently decentralized, redundant and are better than the traditional centralized networks.
Adversarial Orthogonal Regression: Two non-Linear Regressions for Causal Inference
Venue: arXiv cs.LG 2019
Year: 2019

We propose two nonlinear regression methods, named Adversarial Orthogonal Regression (AdOR) for additive noise models and Adversarial Orthogonal Structural Equation Model (AdOSE) for the general case of structural equation models. Both methods try to make the residual of regression independent from regressors while putting no assumption on noise distribution. In both methods, two adversarial networks are trained simultaneously where a regression network outputs predictions and a loss network that estimates mutual information (in AdOR) and KL-divergence (in AdOSE). These methods can be formulated as a minimax two-player game; at equilibrium, AdOR finds a deterministic map between inputs and output and estimates mutual information between residual and inputs, while AdOSE estimates a conditional probability distribution of output given inputs. The proposed methods can be used as subroutines to address several learning problems in causality, such as causal direction determination (or more generally, causal structure learning) and causal model estimation. Synthetic and real-world experiments demonstrate that the proposed methods have a remarkable performance with respect to previous solutions.
Well-behaved Online Load Balancing Against Strategic Jobs
Venue: arXiv cs.DS 2019
Year: 2019

In the online load balancing problem on related machines, we have a set of jobs (with different sizes) arriving online, and we need to assign each job to a machine immediately upon its arrival, so as to minimize the makespan, i.e., the maximum completion time. In classic mechanism design problems, we assume that the jobs are controlled by selfish agents, with the sizes being their private information. Each job (agent) aims at minimizing its own cost, which is its completion time plus the payment charged by the mechanism. Truthful mechanisms guaranteeing that every job minimizes its cost by reporting its true size have been well-studied [Aspnes et al. JACM 1997, Feldman et al. EC 2017]. In this paper, we study truthful online load balancing mechanisms that are well-behaved [Epstein et al., MOR 2016]. Well-behavior is important as it guarantees fairness between machines, and implies truthfulness in some cases when machines are controlled by selfish agents. Unfortunately, existing truthful online load balancing mechanisms are not well-behaved. We first show that to guarantee producing a well-behaved schedule, any online algorithm (even non-truthful) has a competitive ratio at least $Ω(\sqrt{m})$, where m is the number of machines. Then we propose a mechanism that guarantees truthfulness of the online jobs, and produces a schedule that is almost well-behaved. We show that our algorithm has a competitive ratio of $O(\log m)$. Moreover, for the case when the sizes of online jobs are bounded, the competitive ratio of our algorithm improves to $O(1)$. Interestingly, we show several cases for which our mechanism is actually truthful against selfish machines.